Pose estimation evaluation [closed]

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I would like to know on how I can evaluate my pose estimation of my robot. Please assume I only use a camera in an outdoor environment. What I have are pose information and tracking/detection view. I am aware that there are some discussions on something similar to this issue(for instance: here), but it is done by comparing the final map which I don't intend to have as I am not doing any mapping or SLAM.

Thanks in advance.